Multi-specification product adaptive grabbing and boxing system

Abstract

This invention relates to the field of gripping and boxing systems, specifically a multi-specification product adaptive gripping and boxing system, comprising a support frame, a box conveying platform, a gripping unit, a control unit, a lifting unit, and a boxing unit. A frame beam is fixedly connected to the top of the support frame, and the lifting unit is mounted on the frame beam. A unit frame is mounted on the output end of the lifting unit, and the boxing unit is mounted on the surface of the unit frame. The gripping unit is mounted on the surface of the unit frame. The lifting unit drives the unit frame to lift and lower the boxing unit. The gripping unit includes two sets of symmetrically arranged clamping plates along the axial direction of the unit frame. A flexible contact module is provided at the product contact end of the clamping plate, and the flexible contact module integrates a pressure sensor. The purpose of this invention is to solve the problem that existing product gripping and boxing equipment is typically only adaptable to a single specification.

Description

Technical Field

[0001] This invention relates to the field of gripping and boxing system technology, specifically to a multi-specification product adaptive gripping and boxing system, applicable to scenarios where new energy battery products are packed in the correct orientation, thereby automating the correct orientation of the product into the box. Background Technology

[0002] The installation of new energy battery modules into the battery pack is a core process in the production of new energy vehicle battery packs. It mainly involves the entire process of installing pre-assembled battery modules into the battery pack enclosure (the outer shell structure used to house and protect the modules). The quality of this process directly affects the structural stability, electrical safety, and subsequent performance of the battery pack. Before installation, the modules and enclosure must be thoroughly cleaned to remove impurities that may affect assembly or cause safety hazards. At the same time, the appearance and key structures of both must be checked to ensure that the installation reference is clearly identifiable. It is also necessary to debug and adapt the transfer and positioning equipment to ensure that the equipment can accurately identify the assembly reference of the modules and enclosure.

[0003] Existing product gripping and boxing equipment is usually a single-specification adaptable type. When the product specifications change, it is necessary to manually replace the clamps or make major adjustments to the equipment structure. This results in problems such as cumbersome operation, low production efficiency, and poor equipment versatility, which increases production costs and extends the production cycle.

[0004] Currently, equipment used for product gripping and boxing operations is mostly designed to be compatible with a single specification. That is, the structure, fixtures, and operating parameters of the equipment are all preset around a specific product specification. When the product specifications required for production change, the equipment cannot automatically adapt and adjust. It is necessary to manually replace it with a special fixture corresponding to the new specification. This process is not only cumbersome, involving multiple manual operation steps, but also requires a certain level of professionalism from the operators. It is also very easy to increase the time consumption due to the connection problems of manual operation or debugging deviations. At the same time, the equipment needs to be shut down for a long time during specification switching, completely disconnected from the production operation state, which disrupts the overall production rhythm and significantly reduces production efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-specification product adaptive gripping and boxing system to solve the problem that existing product gripping and boxing equipment is usually single-specification adaptable.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An adaptive gripping and boxing system for multi-specification products includes a support frame, a box conveying platform, a gripping unit, a control unit, a lifting unit, and a boxing unit. A frame beam is fixedly connected to the top of the support frame, and the lifting unit is mounted on the frame beam. A unit frame is mounted on the output end of the lifting unit, and the boxing unit is mounted on the surface of the unit frame. The gripping unit is mounted on the surface of the unit frame. The lifting unit drives the unit frame to lift and lower the boxing unit. The gripping unit includes two sets of symmetrically arranged clamping plates along the axial direction of the unit frame. A flexible contact module is provided at the contact end of the clamping plate with the product. The flexible contact module integrates a pressure sensor. The pressure sensor of the flexible contact module detects the contact mechanical characteristics and inputs the information to the control unit. The control unit identifies the product material based on the detection results and outputs information commands to the servo motor to adjust the gripping force.

[0008] The gripping unit's drive mechanism includes a servo motor and a ball screw transmission assembly. The drive mechanism drives one set of the positive clamping plates to slide along the axial direction of the unit frame, while the other set of positive clamping plates is fixed to the surface of the unit frame. The gripping unit detects the pressure difference between the two positive clamping plates through a pressure sensor. When the difference is greater than N, it sends an alarm signal to the control unit and suspends the gripping operation.

[0009] It also includes a housing positioning unit, which includes a scanning component and a positioning mechanism. The scanning component is installed at the lower end of the frame beam, and the positioning mechanism consists of four sets of symmetrically arranged side clamps. The four sets of side clamps are slidably connected along the unit frame. The side clamps integrate width detection sensors. The housing width signal of the width detection sensors is input to the control unit, and the control unit outputs sliding drive commands to the side clamps.

[0010] The lifting unit includes a servo motor, a lead screw and nut mechanism, and a displacement sensor. The servo motor drives the lead screw and nut mechanism to lift the unit frame and the box-entry unit and gripping unit on the frame. The displacement sensor feeds back the lifting height to the control unit. The control unit outputs lifting drive commands to the servo motor of the lifting unit to form a closed-loop control.

[0011] The box-entry unit includes a servo electric cylinder, a box-entry plate, and a vacuum adsorption module. The output end of the servo electric cylinder is rigidly fixed to the box-entry plate. The scanning component of the box positioning unit processes the collected data from the top and inside of the box to generate a three-dimensional unit model and inputs the information to the control unit. The control unit outputs a box-entry depth driving command to the servo electric cylinder of the box-entry unit to drive the box-entry plate to translate along the direction perpendicular to the box, so as to send the product into the box to a preset depth.

[0012] Preferably, the vacuum adsorption module is integrated into the bottom of the inlet plate, and the vacuum adsorption module includes four vacuum suction cups arranged in a rectangular array, each of which is equipped with a pressure sensor.

[0013] Preferably, it also includes a bottom protection unit, which comprises two radially symmetrical support plates.

[0014] Preferably, the conveying surface of the box conveying platform is equipped with a limit strip along the conveying direction, and the limit strip is used to limit the box during the conveying process.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. Through adaptive design, it can adapt to various product specifications and boxes without the need for manual replacement of fixtures or adjustment of mechanical structure, significantly reducing changeover time and cost, and automating the gripping, conveying and boxing process, reducing manual intervention and improving production efficiency and accuracy.

[0017] 2. The vacuum adsorption module adopts graded negative pressure adjustment. During the gripping stage, the pressure is -0.06MPa, which, together with the clamping plate, achieves double fixation. During the box entry stage, the pressure is increased to -0.08MPa to ensure that the product does not shake after the clamping plate is removed. During the release stage, the negative pressure is linearly reduced to -0.01MPa to prevent the product from bouncing. If the pressure difference between any two vacuum suction cups is >0.005MPa, the system will immediately stop operating to prevent the product from tilting and colliding with the box wall, ensuring good safety.

[0018] 3. For soft products, use a low gripping force of 3-5N to avoid deformation caused by excessive clamping; for hard products, use a stable gripping force of 8-12N to prevent slippage, thus achieving differentiated protection for different materials. Attached Figure Description

[0019] Figure 1 This is a flowchart of the grabbing and loading process of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 3 This is a front view of the entire invention;

[0022] Figure 4 This is a side view of the entire invention;

[0023] Figure 5 This is a schematic diagram of the unit frame structure of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the housing positioning unit of the present invention;

[0025] Figure 7 This is a schematic diagram of the bottom protection unit of the present invention.

[0026] In the diagram: 1. Support frame; 2. Frame beam; 3. Lifting unit; 4. Box loading unit; 5. Unit frame; 6. Grabbing unit; 7. First mounting frame; 8. Box positioning unit; 9. Control unit; 10. Second mounting frame; 11. Box conveying platform; 12. Bottom protection unit; 13. Box loading plate. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figures 1 to 7 The present invention provides a technical solution.

[0029] A multi-specification product adaptive gripping and boxing system includes a support frame 1, a box conveying platform 11, a gripping unit 6, a box positioning unit 8, a control unit 9, a lifting unit 3, a boxing unit 4, and a bottom protection unit 12. Each unit works in concert through the control unit 9 to achieve adaptive gripping and boxing of multi-specification products. The support frame 1 provides basic support for the system, and a frame beam 2 is fixedly connected to its top. The lifting unit 3 is installed on the frame beam 2, and a unit frame 5 is installed at the output end of the lifting unit 3. The boxing unit 4 is installed on the surface of the unit frame 5. The lifting unit 3 can drive the unit frame 5 to move the boxing unit 4 up and down to adapt to the boxing requirements of different heights.

[0030] The box conveying platform 11 is used to transport the boxes to be loaded to the designated box entry station. To ensure that the boxes do not deviate during the conveying process and to ensure the subsequent box entry accuracy, the conveying surface is equipped with limit strips along the conveying direction to limit the boxes.

[0031] The gripping unit 6 is installed on the unit frame 5. It adopts two sets of positive clamping plates symmetrically arranged along the axis of the unit frame 5. Its drive system adopts C3-level precision ball screw transmission. One set of positive clamping plates is driven to slide axially by a servo motor integrated encoder, while the other set of positive clamping plates is fixed. Adaptive gripping of products of different lengths is achieved by adjusting the displacement of the sliding positive clamping plates. The encoder collects the displacement data of the sliding positive clamping plates in real time and works with the control unit 9 to form a closed-loop control mechanism for gripping force.

[0032] To achieve adaptive gripping of products made of various materials, the contact end between the clamping plate and the product is equipped with a flexible contact module. This module includes a 1mm thick silicone buffer layer with a Shore A hardness of 30A and a miniature pressure sensor with a range of 0-20N and an accuracy of ±0.2N. The module identifies the hardness of the product's outer shell, such as aluminum alloy or plastic, by detecting the mechanical properties during the contact process, and automatically matches the gripping force to: 8-12N for hard shells, 5-8N for medium-hard shells, and 3-5N for soft shells. The specific identification process is as follows:

[0033] A servo motor drives a sliding clamping plate to move towards the product at a speed of 0.5 mm / s. A miniature pressure sensor collects the pressure value F in real time, and an encoder synchronously records the clamping plate displacement S and the contact time t during which the pressure rises from 0 to 5 N. Based on the above data, the pressure change rate per unit displacement ΔF / ΔS (in N / mm) and the pressure rise rate ΔF / Δt (in N / s) are calculated. The material hardness grade is determined according to the preset threshold, as shown in the following table:

[0034]

[0035] During the grasping process, the system simultaneously performs product posture detection: if the pressure difference between the two clamping plates ΔF_left - ΔF_right > 1N, it is determined that the product has a posture deviation angle ≤ 5°. At this time, the grasping needs to be paused, and the product posture needs to be manually adjusted until the pressure difference is ≤ 0.5N before the above material identification process is re-executed to avoid misjudgment caused by uneven force.

[0036] In addition, the system has an anomaly protection function. If an abnormal pressure surge is detected, such as when a foreign object is caught, the trigger force value will be reduced to a safe range. At the same time, an alarm signal will be sent to the control unit 9 and the gripping operation will be suspended to ensure the safety of the equipment and products.

[0037] The box positioning unit 8 consists of two parts: a scanning component and a positioning mechanism. Together, they achieve accurate positioning and status recognition of the box. The scanning component uses two linear lidars with a scanning frequency of 100Hz and a point cloud density of 200 points / mm². They are uniformly installed at the lower end of the beam 2, above the box entry station, at a vertical distance of 1.5m from the box opening. They can collect data on the top and inside of the box in real time and generate a three-dimensional point cloud model. This is beneficial for identifying the position of the card slot inside the box with a positioning accuracy of ±0.2mm. It provides a coordinate reference for the subsequent alignment of the product entering the box and automatically detects obstacles inside the box, such as residual foreign objects, to avoid collisions between the product and obstacles during the box entry process.

[0038] The positioning mechanism consists of four sets of side clamps, which are fixed to the unit frame 5 by the first mounting bracket 7. The four sets of side clamps are symmetrically arranged radially along the unit frame 5. The side clamps are integrated with laser ranging width detection sensors. The width dimension of the box conveyed to the box-in station is collected first. The sensor transmits the detection data to the control unit 9. The control unit 9 calls the built-in database of the matching data of the side clamp spacing corresponding to the box specifications and pre-stores the optimal limit spacing corresponding to different box specifications. The control unit 9 drives the servo motor on the first mounting bracket 7, which drives the four sets of side clamps to move back and forth synchronously through the ball screw transmission until the side clamp spacing is completely matched with the current box specification, forming dynamic box upright positioning. That is, by adjusting the limit spacing in real time, it adapts to different box specifications and ensures that the center of the box coincides with the alignment center of the box-in unit 4, avoiding box offset and box-in deviation.

[0039] As the central hub of the system, the control unit 9 undertakes the core functions of signal reception, logical operation, and command issuance. It uniformly controls the timing of the actions of the lifting unit 3, the box-entry unit 4, the gripping unit 6, the box-positioning unit 8, and the bottom protection unit 12. It receives sensor feedback signals from each unit in real time, such as the pressure and displacement signals of the gripping unit 6, the box specifications of the box-positioning unit 8, and the safety detection signals of the bottom protection unit 12. It dynamically judges the current working status and adjusts the action parameters according to the preset program and remote commands.

[0040] The control unit 9 has a built-in database of matching parameters for multiple product specifications and boxes, which pre-stores the optimal parameters corresponding to different product lengths, materials, box heights, and inner diameters. When it receives the product and box specifications detected by the sensor, it automatically calls the matching parameters from the database, such as the side clamp spacing of the box positioning unit 8, the lifting height of the lifting unit 3, and the box entry depth of the box entry unit 4. The parameter switching can be completed without manual intervention.

[0041] The lifting unit 3 is mainly composed of a servo motor providing power, a screw and nut mechanism converting rotary motion into linear lifting motion, and a displacement sensor (height detection sensor) that provides real-time feedback on the lifting height. It automatically adjusts the product's position height when entering the box according to the box height, adapting to boxes of different heights. As the lifting unit 3 is the mechanism for adjusting the box height, its operation is entirely driven by the commands of the control unit 9. First, the lidar of the box positioning unit 8 scans the box height and transmits the data to the control unit 9. The control unit 9, combined with the initial height of the box entry unit 4 and the product length, calculates the optimal lifting height for box entry from the parameter database and issues a lifting command to the lifting unit 3. The servo motor drives the screw and nut mechanism to lift the unit frame 5 and the box entry unit 4 and gripping unit 6 on the frame. The displacement sensor feeds back the actual lifting height to the control unit 9 in real time, forming a closed-loop control to ensure that the final height error is ≤0.2mm, adapting to boxes of different heights, such as boxes with heights of 100mm-500mm.

[0042] The core of the box-entry unit 4 is responsible for adjusting the product's box-entry depth. It mainly consists of a servo electric cylinder, a box-entry plate 13, and a vacuum adsorption module. The output end of the servo electric cylinder is rigidly fixed to the box-entry plate 13. The box-entry unit 4 receives parameter commands from the control unit 9. These commands are calculated based on the box depth and product length scanned by the box positioning unit. The servo electric cylinder drives the box-entry plate 13 to move the product along the vertical direction of the box, adjusting the box-entry depth to meet the box-entry requirements of different box specifications.

[0043] The vacuum adsorption module is integrated into the bottom of the loading plate 13 and includes four 30mm diameter vacuum suction cups made of nitrile rubber, arranged in a rectangular array. Each suction cup is connected to a negative pressure source via a flexible corrugated tube and is independently equipped with a pressure sensor. The pressure sensor monitors the adsorption pressure of each suction cup in real time. If the pressure difference between any two suction cups is greater than 0.005MPa, uneven adsorption is determined, and the control unit 9 is immediately notified to pause the operation to prevent product tilting. The vacuum adsorption module adopts a graded negative pressure adjustment design, providing -0.06MPa during the gripping stage. The basic negative pressure, combined with the gripping unit 6, achieves double fixation. During the box entry stage, the pressure is increased to -0.08MPa, increasing the holding force by 30%, ensuring that the product does not shake after the gripping unit 6 is removed. During the release stage, the negative pressure is linearly reduced to -0.01MPa within 0.5 seconds by the solenoid valve to prevent the product from bouncing due to instantaneous air pressure changes. The positive clamping plate of the gripping unit 6 clamps the two sides of the product, and the vacuum suction cup of the box entry plate 13 adsorbs the top center area of ​​the product. The two do not overlap in the vertical direction, and the clamping and adsorption actions are started simultaneously to avoid structural conflicts.

[0044] The lifting unit 3 drives all related components, including the box-entry unit 4, unit frame 5, gripping unit 6, first mounting frame 7, box positioning unit 8, control unit 9, second mounting frame 10, bottom protection unit 12, and box-entry plate 13, to move up and down as a whole. The core purpose is to adjust the related components to an initial height that is flush with the box opening based on the box height scanned by the box positioning unit 8, laying the foundation for accurate box entry. The box-entry unit 4 is responsible for driving the box-entry plate 13 and the adsorbed product to move up and down locally. After the lifting unit completes the overall height alignment, it releases the gripping unit 6, and the servo electric cylinder of the box-entry unit 4 starts, driving the box-entry plate 13 to move the product down along the vertical direction of the box until the product reaches the preset box-entry depth.

[0045] The bottom protection unit 12 provides safety redundancy for the product gripping stage. The bottom protection unit 12 includes two radially symmetrically arranged trays. The movement of the trays is driven by two independent servo motors on the second mounting frame 10. Both of them use ball screw transmission. The first set of servo motors controls the two trays to move back and forth to get closer to or away from the product, and the second set of servo motors controls the two trays to move up and down to adjust the support height.

[0046] At the same moment that the gripping unit 6's positive clamping plate begins to contact the product and the gripping action is initiated, the bottom protection unit 12 responds synchronously and controls the tray to move synchronously to the lower end of the product. This helps to provide bottom support for the product during the gripping process. This design can prevent the product from falling accidentally when gripping or when the product is heavy, thus improving gripping safety.

[0047] Specific method: Start the container conveying platform 11 to convey the container to be loaded. When the container approaches the box entry station, the conveying platform decelerates until the container triggers the station arrival sensor, and the platform stops running.

[0048] The linear lidar of the container positioning unit 8 is activated to collect data from the top and inside of the container in real time, generate a three-dimensional point cloud model, provide a coordinate reference for container alignment, and detect whether there are obstacles inside the container. If an obstacle is found, the control unit 9 immediately sends an alarm signal, suspends subsequent operations, and rescans after manual cleaning.

[0049] Control unit 9 controls the movement of the gripping and box-entry system, aligning the two sets of clamping plates of gripping unit 6 with the product to be gripped. The servo motor of gripping unit 6 is activated, driving one set of sliding clamping plates to move towards the product, while the other set remains stationary. A miniature pressure sensor collects the contact pressure F in real time, and the encoder synchronously records the clamping plate displacement S and the contact time t from 0 to 5 N. Control unit 9 calculates the unit displacement pressure change rate ΔF / ΔS and the pressure rise rate ΔF / Δt, determines the product material hardness level based on a preset threshold, and adjusts the servo motor according to the determination result. The machine outputs torque to apply a matching gripping force to the sliding clamping plate, completing the clamping of the product on both sides. During the clamping process, the control unit 9 compares the pressure difference between the two clamping plates in real time. If the difference is greater than 1N, it is determined that the product posture is deviated, the system immediately stops gripping, and the human-machine interface prompts the posture deviation. After the operator manually adjusts the product posture, the material recognition process is restarted until the pressure difference is ≤0.5N, confirming that the product posture is normal, and proceeding to the next operation. At the same time, the bottom protection unit 12 responds synchronously, controlling the pallet to move up and down to be close to the lower end of the product, forming a bottom support to prevent the product from falling.

[0050] The vacuum adsorption module at the bottom of the inlet plate 13 is activated, and the four nitrile rubber suction cups generate a basic negative pressure of -0.06MPa to adsorb the top center area of ​​the product. At the same time, the independent pressure sensor of the suction cup monitors the pressure in real time. If the pressure difference between any two suction cups is >0.005MPa, it is determined that the adsorption is uneven, the system pauses and alarms, and the adsorption is restarted after checking the suction cups or the product surface to ensure the product is double fixed and stable.

[0051] The linear laser radar of the box positioning unit 8 transmits the detected box height data to the control unit 9. The control unit 9 calculates the optimal lifting height when the box is being placed in the box. The control unit 9 issues a lifting command to the lifting unit 3. The servo motor of the lifting unit 3 drives the lead screw and nut mechanism, which drives the unit frame 5 and the box placement unit 4, gripping unit 6, box positioning unit 8 and other components on the frame to lift as a whole. The displacement sensor feeds back the actual lifting height to the control unit 9 in real time, forming a closed-loop control, adapting to the current box height, and completing the height alignment before the box is placed in the box.

[0052] The four sets of side clamps of the housing positioning mechanism collect the width dimensions of the housing through laser range sensors. The data is transmitted to the control unit 9 in real time. The control unit 9 calls the database to match the parameters and drives the servo motor on the first mounting bracket 7. Through ball screw transmission, the four sets of side clamps move back and forth synchronously until the spacing between the side clamps is completely matched with the current housing specifications. After positioning is completed, the side clamps are held in a clamping state to fix the position of the housing.

[0053] Control unit 9 instructs gripping unit 6 to release the product clamping. At the same time, the negative pressure of vacuum adsorption module is increased to -0.08MPa. Box entry unit 4 receives instruction from control unit 9, and servo electric cylinder drives box entry plate 13 to move the product downward along the vertical direction of the box, gradually entering the box.

[0054] Once the inlet plate 13 has driven the product to the preset inlet depth, the control unit 9 instructs the solenoid valve of the vacuum adsorption module to start. The negative pressure linearly drops to -0.01MPa within 0.5 seconds to prevent the product from bouncing due to instantaneous air pressure changes. After confirming that the product is stably placed in the slot inside the box, the servo electric cylinder drives the inlet plate 13 to reset upward and detach from the box, completing a single inlet.

[0055] Lifting unit 3 drives related components to reset to the initial height, the side clamp of the positioning mechanism of box positioning unit 8 is released, box conveying platform 11 starts, and transports the loaded box to the next process. The support plate of bottom protection unit 12 is reset to the initial position, the front clamp of gripping unit 6 is reset, the vacuum adsorption module is depressurized, and it is ready for the next gripping. Box conveying platform 11 transports the next box to be loaded to the box entry station. The system repeats the process to achieve continuous adaptive gripping and box entry operation.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-specification product adaptive gripping and boxing system, characterized in that: The system includes a support frame (1), a box conveying platform (11), a gripping unit (6), a control unit (9), a lifting unit (3), and a box-entry unit (4). The top of the support frame (1) is fixedly connected to a beam (2). The lifting unit (3) is installed on the beam (2). The output end of the lifting unit (3) is equipped with a unit frame (5). The box-entry unit (4) is installed on the surface of the unit frame (5). The gripping unit (6) is installed on the surface of the unit frame (5). The lifting unit (3) is used to drive the unit frame (5) to lift the box-entry unit (4). The gripping unit (6) includes two sets of positive clamps symmetrically arranged along the axial direction of the unit frame (5). The positive clamps are provided with a flexible contact module at the contact end with the product. The flexible contact module integrates a pressure sensor. The pressure sensor of the flexible contact module detects the contact mechanical characteristics and inputs the information to the control unit (9). The control unit (9) identifies the product material according to the detection result and outputs information commands to the servo motor to adjust the gripping force. The drive mechanism of the gripping unit (6) includes a servo motor and a ball screw transmission assembly. The drive mechanism drives one set of the positive clamps to slide along the axial direction of the unit frame (5), and the other set of the positive clamps is fixed on the surface of the unit frame (5). The gripping unit (6) detects the pressure difference between the two positive clamps through a pressure sensor. When the difference is greater than 1N, it sends an alarm signal to the control unit (9) and suspends the gripping operation. It also includes a housing positioning unit (8), which includes a scanning component and a positioning mechanism. The scanning component is installed at the lower end of the frame beam (2), and the positioning mechanism consists of four sets of symmetrically arranged side clamps. The four sets of side clamps are slidably connected along the unit frame (5). The side clamps integrate a width detection sensor. The housing width signal of the width detection sensor is input to the control unit (9), and the control unit (9) outputs a sliding drive command to the side clamps. The lifting unit (3) includes a servo motor, a lead screw and nut mechanism and a displacement sensor. The servo motor drives the lead screw and nut mechanism to lift the unit frame (5) and the box-entry unit (4) and gripping unit (6) on the frame. The displacement sensor feeds back the lifting height to the control unit (9). The control unit (9) outputs lifting drive commands to the servo motor of the lifting unit (3) to form a closed-loop control. The box-entry unit (4) includes a servo electric cylinder, a box-entry plate (13), and a vacuum adsorption module. The output end of the servo electric cylinder is rigidly fixed to the box-entry plate (13). The scanning component of the box positioning unit (8) processes the collected data on the top and inside of the box to generate a three-dimensional unit model and inputs the information to the control unit (9). The control unit (9) outputs a box-entry depth driving command to the servo electric cylinder of the box-entry unit (4) to drive the box-entry plate (13) to move along the direction perpendicular to the box and send the product into the box to a preset depth.

2. The multi-specification product adaptive gripping and boxing system according to claim 1, characterized in that, The vacuum adsorption module is integrated at the bottom of the inlet plate (13). The vacuum adsorption module contains four vacuum suction cups arranged in a rectangular array, and each vacuum suction cup is equipped with a pressure sensor.

3. The multi-specification product adaptive gripping and boxing system according to claim 1, characterized in that, It also includes a bottom protection unit (12), which includes two radially symmetrical support plates.

4. The multi-specification product adaptive gripping and boxing system according to claim 1, characterized in that, The conveying surface of the box conveying platform (11) is equipped with a limit bar along the conveying direction, and the limit bar is used to limit the box during the conveying process.

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